Function parseCamerasBinary

src/parsers/cameras.ts:23–52

(buffer: ArrayBuffer)

 *   - double[]: params (variable count based on model)
 */
export function parseCamerasBinary(buffer: ArrayBuffer): Map<number, Camera> {
  const reader = new BinaryReader(buffer);
  const cameras = new Map<number, Camera>();

  const numCameras = reader.readUint64AsNumber();

  for (let i = 0; i < numCameras; i++) {
    const cameraId = reader.readUint32();
    const modelId = parseCameraModelId(reader.readInt32(), `binary camera ${cameraId}`);
    const width = reader.readUint64AsNumber();
    const height = reader.readUint64AsNumber();

    // Get number of parameters for this camera model
    const numParams = getCameraModelNumParams(modelId);
    const params: number[] = [];
    for (let j = 0; j < numParams; j++) {
      params.push(reader.readFloat64());
    }

    cameras.set(cameraId, {
      cameraId,
      modelId,
      width,
      height,
      params,
    });
  }

  return cameras;
}

/** A camera record skipped by {@link parseCamerasText} because its model is unknown. */
export interface SkippedCameraRecord {